US0094.57901B2

(12) United States Patent (10) Patent No.: US 9,457.901 B2 Bertrand et al. (45) Date of Patent: Oct. 4, 2016

(54) QUADCOPTER WITH A PRINTABLE (56) References Cited PAYLOAD EXTENSION SYSTEMAND METHOD U.S. PATENT DOCUMENTS (71) Applicants: Blaise Bertrand, San Francisco, CA 2,035,218 A 3, 1936 Bloom (US); Youenn Colin, San Francisco, 3.253,806 A 5, 1966 Eickmann CA (US); Anthony Patron, Mountain (Continued) View, CA (US); Vinh Pho, Oakland, CA (US) FOREIGN PATENT DOCUMENTS (72) Inventors: Blaise Bertrand, San Francisco, CA EP 1426876 A1 6, 2004 (US); Youenn Colin, San Francisco, EP 1901153 A1 3, 2008 CA (US); Anthony Patron, Mountain (Continued) View, CA (US); Vinh Pho, Oakland, CA (US) OTHER PUBLICATIONS (73) Assignee: FATDOOR, INC., Mountain View, CA http://www.zdnetcom/news/perspective-social-networking-for-all/ (US) 149441. (*) Notice: Subject to any disclaimer, the term of this (Continued) patent is extended or adjusted under 35 U.S.C. 154(b) by 231 days. Primary Examiner — Joseph W. Sanderson (21) Appl. No.: 14/258,044 Assistant Examiner — Magdalena Topolski (74) Attorney, Agent, or Firm — Raj Abhyanker, P.C. (22) Filed: Apr. 22, 2014 (65) Prior Publication Data (57) ABSTRACT US 2015/0298799 A1 Oct. 22, 2015 A method and system of printable payload extensions of a quadcopter are disclosed. In one aspect, a quadcopter (51) Int. C. includes an airframe and a central portion of the airframe B64C 27/20 (2006.01) having at least one of an upper extender mechanism and a B64C39/02 (2006.01) lower extender mechanism. The central portion enables B33/80/00 (2015.01) users of the quadcopter to design payload extensions that A63H 27/00 (2006.01) mechanically couple with the quadcopter using a three (52) U.S. C. dimensional (3D) printing device as long as the payload CPC ...... B64C39/024 (2013.01); A63H 27/12 extensions have a weight less than a maximum payload (2013.01); B33Y 80/00 (2014.12); B64C 27/20 capacity of the quadcopter. The quadcopter couples with at (2013.01); B64C 2201/027 (2013.01); B64C a set of payload extensions including a hook assembly, an 220.1/042 (2013.01); B64C 220 1/127 (2013.01) interlocking building block platform assembly, a DSLR (58) Field of Classification Search camera assembly, a HD camera assembly, and/or a container CPC. B64C 27/08; B64C 27/20: B64C 2201/024; assembly through the central portion of the airframe. B64C 220 1/27; B64C 2201/108; B64C 27/32: A63H 27/12 See application file for complete search history. 5 Claims, 8 Drawing Sheets

LOWEREXTENER MECHANISM

UNDERCARRAGE 16

IWOTED UNERCARRIAGE WW250 US 9,457.901 B2 Page 2

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Analytics LLC and Google Inc., Northern District of California, Benchmark-Backed Nextdoor Launches as a Private Social Net Aug. 25, 2014, (pp. 16). work for Neighborhoods, Techcrunch Article, Oct. 26, 2011 by Screenshot of Meetey on CrunchBase, Aug. 27, 2014, (pp. 3) Leena Rao (6 Pages) http://techcrunch.com/2011/10/26/benchmark http://www.crunchbase.com/organization/meetey. backed-nextdoor-launches-as-a-private-Social-network-for-neigh Wikipedia entry Patch Media website—Aug. 27, 2014 (pp. 2) borhoods. http://en.wikipedia.org/wiki/Patch Media. Fatcloor Founder Sues Benchmark Capital, Saying it Stole His Idea Wikipedia entry Yahoo! Groups website—Aug. 27, 2014 (pp. 7) for Nextdoor, All Things Digital Article, Nov. 11, 2011, by Liz http://en.wikipedia.org/wiki/Yahoo groups. Gannes (7 Pages) http://allthingsd.com/20111111/fatdoor-founder Palo Alto News on Topix. Aug. 27, 2014, (pp. 3) http://www.topix. Sues-benchmark-capital-saying-it-Stole-his-idea-for-nextdoor?. com/palo-alto. Fatcloor CEO Talks About Balancing Security with Community, Screenshot of My Neighbourhoods on CrunchBase, Aug. 27, 2014 Wired Magazine, May 31, 2007, by Terrence Russell (2 Pages) (pp. 2) http://www.crunchbase.com/organization/my-neighbour http://www.wired.com/2007/05/fatdoor ceo tal?. hoods. Fatcloor Launches Social Network for Your Neighborhood, Mash Screenshot of Dehood website, Aug. 27, 2014. (p. 1) http://www. able Article, May 28, 2007, by Kristen Nicole (3 Pages) http:// dehood.com/home. mashable.com/2007/05/28/fatdoor?. Wikipedia entry The Freecycle Network website—Aug. 27, 2014 Screenshots of Nextdoor website and its features—as Submitted in (pp. 3) http://en.wikipedia.org/wiki/The Freecycle Network. Case5: 14-cv-02335-BLF on Jul. 15, 2014 (pp. 19) http://www. elDirectree Brings Group Wiki Twist to Social Networking, nextdoor.com/. Techcrunch Article, Feb. 1, 2008 by Mark Hendrickson, (pp. 2) Fatcloor turns neighborhoods into online Social networks, http://techcrunch.com/2008/02/01/edirectree-brings-group-wiki VentureBeat News Article, May 28, 2007, by Dan Kaplan (pp. 4) twist-to-social-networking?. http://venturebeat.com/2007/05/28/fatdoor-turns-neighborhoods Wikipedia entry Meetup website—Aug. 27, 2014 (p. 1) http://en. into-online-Social-networkSt. wikipedia.org/wiki/Meetup (website). US 9,457.901 B2 Page 10

(56) References Cited “Crowdsourcing: Those that are willing to test & learn will be those that will win”, Newsline, Mar. 1, 2011 by Neil Perkin http:// OTHER PUBLICATIONS mediatel.co.uk/newsline/2011/03/01/crowdsourcing-those-that-are willing-to-test-learn-will-be-those-that-will-win?. Wikipedia entry Google Maps website—Aug. 27, 2014 (p. 18) “Friends and Neighbors on the Web”, 2001 by Lada A. Adamic et http://en.wikipedia.org/wiki/Google Maps. al. (pp. 9) http://www.hpl.hp.com/researchidl/papers/web.10/fnn2. Screenshot of Facebook website for groups, Aug. 27, 2014. (p. 1) pdf. https://www.facebook.com/about groups. “A Social influence model of consumer participation in network and Small-group-based virtual communities'. International Journal Facebook Engineers bring Google+ Circles to Facebook, Article on of Research in Marketing, 2004 by Utpal M. Dholakia et al. (pp. 23) ZDNet by Emil Protalinski, Jul. 3, 2011, (pp. 2) http://www.zdnet. http://www-bcf.usc.edu/-douglast 620/bettinal.pdf. com/blog/facebook/facebook-engineers-bring-google-circles-to “BuzzMaps: a prototype social proxy for predictive utility”, ACM facebook? 1885. Digital Library, 2003 by AZZari Caillier Jarrett et al. (Pages) Screenshot of Uber website, Aug. 27, 2014, (pp. 5) https://www. http://dl.acm.org/citation.cfm?id=948.547&dl=ACM&col=DL uber.com/. &CFID=456946313&CFTOKEN=5O139062. Screenshot of Lyft website, Aug. 27, 2014, (pp. 5) https://www.lyft. “Direct Annotation: A Drag-and-Drop Strategy for Labeling Pho com/. tos'. University of Maryland, 2000 by Ben Shneiderman et al. (pp. Wikipedia entry Google driverless car—Aug. 27, 2014 (pp. 4) 8) http://hci12.cs.umd.edu/trs/2000-06/2000-06.pdf. http://en.wikipedia.org/wiki/Google driverless car. “Notification for Shared Annotation of Digital Documents”, Tech Wikipedia entry Uber (company)—Aug. 27, 2014 (pp. 7) http://en. nical Report MSR-TR-2001-87, Sep. 19, 2001 by A. J. Bernheim wikipedia.org/wiki/Uber (company). Brush et al. (pp. 9) http://research.microsoft.com/pubs/698.80/tr Wikipedia entry Autonomous car—Aug. 27, 2014 (pp. 15) http:// 2001-87.pdf. en.wikipedia.org/wiki/Autonomous car. “HT06, Tagging Paper, Taxonomy, Flickr, Academic Article, Screenshot of sidecar website, Aug. 27, 2014 (p. 1) http://www. ToRead”. Yahoo Research Berkeley, CA. 2006 by Cameron Marlow sidecar.com/. et al. (pp. 9) http://www.danah.org/papers/Hypertext2006.pdf. Screenshot of patch media website, Aug. 27, 2014 (pp. 6) http:// “Computer Systems and the Design of Organizational Interaction'. patch.com/. by Fernando Flores et al. (pp. 20) http://cpe.njit.edu/dlnotes/CIS/ Screenshot of i-neighbors website, Aug. 27, 2014 (pp. 3) https:// CIS735/ComputerSystemsand Design.pdf. www.i-neighbors.org/howitworks.php. "ChipIn—the easy way to collect money”. Louis Really Useful http://pulsosocial.com/en/2014/02/01/3d-printing-graphene-and Finds, Mar. 12. (p. 1) http://reallyusefulthings. tumblr.com/post? quadcopters-a-brave-new-world?. 28688782/chipin-the-easy-way-to-collect-money. http://www.thingiverse.com/thing: 17612/iiinstructions. http://therobotfish.com/projects/quadcopter?. * cited by examiner U.S. Patent Oct. 4, 2016 Sheet 1 of 8 US 9,457.901 B2

U.S. Patent Oct. 4, 2016 Sheet 2 of 8 US 9,457.901 B2

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US 9,457,901 B2 1. 2 QUADCOPTER WITH A PRINTABLE through a quarter turn of a central axis of the quadcopter PAYLOAD EXTENSION SYSTEMAND coupling the airframe to the undercarriage. The quarter turn METHOD may pivot the second set of rotors to the extended mode. The quadcopter may enter a flyable condition when in the FIELD OF TECHNOLOGY extended mode. The quadcopter may automatically enable an electronic This disclosure relates generally to the technical field of circuitry of the quadcopter when in the flyable condition. mechanical engineering, and in one embodiment, to a The airframe of the quadcopter may include an upper method, system and apparatus of a quadcopter with a extender mechanism and/or a lower extender mechanism in printable payload extension. 10 a central portion of the airframe. The undercarriage may wrap around the lower extender mechanism in a manner BACKGROUND such that the lower extender mechanism is enclosed by the undercarriage. The maximum payload capacity may be Quadcopters may be designed to serve a single purpose. between one and twenty pounds. The central portion may It may be difficult, impractical, and/or dangerous to alter 15 encompass a cavity in which a securing means may provide quadcopters to serve additional and/or different purposes. for convenient insertion and/or ejection of a battery power Further, accessories for quadcopters may be limited and/or ing the quadcopter when a cover of the upper extender may require significant work to make the accessories able to mechanism is removed. attach and/or function on the quadcopter. As a result, the The cavity may include a processor and/or a memory applications of quadcopters may be limited and/or use of and/or a communication circuitry comprising at least one of quadcopters may become costly and/or unsafe. a radio frequency circuitry, a wifi circuitry, and/or a cellular communication circuitry. A pair of fan-out payload exten SUMMARY sions may span out from opposing faces of the undercarriage to provide tensile strength during a landing of the quadcop A method and a device of printable payload extensions of 25 ter. The airframe of the quadcopter may include a built-in a quadcopter are disclosed. In one aspect, a quadcopter camera in an encasing of at least one of the first rotor and/or includes an airframe and a central portion of the airframe the second rotor of the quadcopter. The airframe may having at least one of an upper extender mechanism and a include a return home button to autonomously direct the lower extender mechanism. The central portion includes a quadcopter to a predetermined location. connection means that enables users of the quadcopter to 30 In another aspect, a method of a quadcopter includes design payload extensions that mechanically couple with the enabling users of the quadcopter to design payload exten quadcopter using a three-dimensional (3D) printing device sions that mechanically couple with an airframe of the in conformance with the connection means as long as the quadcopter using a three-dimensional (3D) printing device payload extensions have a weight less than a maximum in conformance with a connection means as long as the payload capacity of the quadcopter. The connection means 35 payload extensions have a weight less than a maximum to couple any of a set of payload extensions including a hook payload capacity of the quadcopter. Any of a set of payload assembly, an interlocking building block platform assembly, extensions are coupled through a central portion of an a DSLR camera assembly, a HD camera assembly, and a airframe using the connection means. A cavity of the air container assembly through the central portion of the air frame includes a processor and a memory and a communi frame. 40 cation circuitry comprising at least one of a radio frequency A first pair of rotors may include of a first rotor and a circuitry, a wifi circuitry, and a cellular communication second rotor physically enclosed in the airframe. An under circuitry. The central portion of the airframe has at least one carriage may be mechanically coupled on a lower side of the of an upper extender mechanism and a lower extender airframe. A second pair of rotors may include of a third rotor mechanism. and a fourth rotor mechanically coupled to the undercar 45 A second pair of rotors may be folded outward with the riage. The second pair of rotors may fold outward with a pivot of an undercarriage in a manner Such that the second pivot of the undercarriage in a manner Such that the second pair of rotors extend substantially perpendicularly to a first pair of rotors extend substantially perpendicularly to the first pair of rotors, such that a first rotor may be substantially pair of rotors, such that the first rotor may be substantially perpendicular a third rotor and/or a second rotor may be perpendicular the third rotor and the second rotor is sub 50 Substantially perpendicular a fourth rotor when in an stantially perpendicular the fourth rotor when in an extended extended mode. The first pair of rotors comprising of the first mode. The second pair of rotors may fold underneath the rotor and the second rotor may be physically enclosed in the first pair of rotors such that the first pair of rotors and the airframe. The undercarriage may be mechanically coupled second pair of rotors are Substantially parallel to each other on a lower side of the airframe. The second pair of rotors in a folded mode of the undercarriage of the quadcopter. 55 comprising of the third rotor and the fourth rotor may be The first pair of rotors may be substantially above the mechanically coupled to the undercarriage. The second pair second pair of rotors in the folded mode, such that the first of rotors may be folded underneath the first pair of rotors rotor may be substantially above the third rotor and/or the such that the first pair of rotors and the second pair of rotors second rotor is substantially above the fourth rotor when in are substantially parallel to each other in a folded mode of the folded mode. The second pair of rotors may fold outward 60 the undercarriage of the quadcopter. with the pivot of the undercarriage in the manner such that The first pair of rotors may be substantially above the the second pair of rotors extend Substantially perpendicu second pair of rotors in the folded mode, such that the first larly to the first pair of rotors, such that the first rotor may rotor is substantially above the third rotor and the second be substantially perpendicular the fourth rotor and the sec rotor is substantially above the fourth rotor when in the ond rotor may be substantially perpendicular the third rotor 65 folded mode. The second pair of rotors may fold outward when in the extended mode. The second pair of rotors may with the pivot of the undercarriage in the manner such that extend substantially perpendicularly to the first pair of rotors the second pair of rotors extend Substantially perpendicu US 9,457,901 B2 3 4 larly to the first pair of rotors, such that the first rotor is FIG. 2 is a pivoted undercarriage view of the quadcopter, substantially perpendicular the fourth rotor and the second according to one embodiment. rotor is substantially perpendicular the third rotor when in FIG. 3 is an extended mode bottom view of the quadcop the extended mode. The second pair of rotors may be ter of FIG. 2 in an extended mode, according to one extended substantially perpendicularly to the first pair of 5 embodiment. rotors through a quarter turn of a central axis of the quad FIG. 4A is a front view of the quadcopter of FIG. 2 in a copter coupling the airframe to the undercarriage. The flyable condition, according to one embodiment. quarter turn may pivot the second set of rotors to the FIG. 4B is a front view of the quadcopter of FIG. 4A with extended mode. The quadcopter may enter a flyable condi a pair of fan-out payload extensions in a protracted mode, tion when in the extended mode. 10 according to one embodiment. FIG. 5 is a connection means view of multiple assemblies An electronic circuitry of the quadcopter may be auto of the quadcopter, according to one embodiment. matically enabled when in the flyable condition. The under FIG. 6 is a cavity view of the quadcopter, according to one carriage may wrap around the lower extender mechanism in embodiment. a manner Such that the lower extender mechanism is 15 Other features of the present embodiments will be appar enclosed by the undercarriage. The maximum payload ent from the accompanying drawings and from the detailed capacity may be between one and twenty pounds. A cavity description that follows. may be encompassed in the central portion in which a securing means to provide for convenient insertion and/or DETAILED DESCRIPTION ejection of a battery powering the quadcopter when a cover of the upper extender mechanism is removed. The set of A method, apparatus and system of printable payload payload extensions may include a hook assembly, an inter extensions of a quadcopter are disclosed. In the following locking building block platform assembly, a DSLR camera description, for the purposes of explanation, numerous spe assembly, a HD camera assembly, and/or a container assem cific details are set forth in order to provide a thorough bly. A pair of fan-out payload extensions may span out from 25 understanding of the various embodiments. It will be evi opposing faces of the undercarriage to provide tensile dent, however to one skilled in the art that the various strength during a landing of the quadcopter. A built-in embodiments may be practiced without these specific camera may be included in an encasing of at least one of the details. first rotor and the second rotor of the quadcopter. A return In one embodiment, a quadcopter 100 includes an air home button may autonomously direct the quadcopter to a 30 frame 102 and a central portion of the airframe 110 having predetermined location. at least one of an upper extender mechanism 114 and a lower In yet another aspect, a quadcopter includes an airframe extender mechanism 124. The central portion includes a and a central portion of the airframe having an upper connection means 502 that enables users of the quadcopter extender mechanism and a lower extender mechanism. The 100 to design payload extensions that mechanically couple central portion includes a connection means that enables 35 with the quadcopter 100 using a three-dimensional (3D) users of the quadcopter to design payload extensions that printing device in conformance with the connection means mechanically couple with the quadcopter using a three 502 as long as the payload extensions have a weight less dimensional (3D) printing device in conformance with the than a maximum payload capacity of the quadcopter 100. connection means as long as the payload extensions have a The connection means 502 to couple any of a set of payload weight of at least one of a weight less than a maximum 40 extensions including a hook assembly 506C, an interlocking payload capacity of the quadcopter and a weight equal to the building block platform assembly 506A, a DSLR camera maximum payload capacity of the quadcopter. A second pair assembly, a HD camera assembly 506D, and a container of rotors folds underneath a first pair of rotors such that the assembly 506B through the central portion of the airframe first pair of rotors and the second pair of rotors are Substan 110. tially parallel to each other in a folded mode of the quad 45 A first pair of rotors 104 may include of a first rotor 106 copter. and a second rotor 108 physically enclosed in the airframe The methods, systems, and apparatuses disclosed herein 102. An undercarriage 116 may be mechanically coupled on may be implemented in any means, materials, and forms for a lower side 202 of the airframe 102. A second pair of rotors achieving various aspects, and some of which may be 118 may include of a third rotor 120 and a fourth rotor 122 executed in a form of a machine-readable medium embody 50 mechanically coupled to the undercarriage 116. The second ing a set of instructions that, when executed by a machine, pair of rotors 118 may fold outward with a pivot 204 of the cause the machine to perform any of the operations dis undercarriage 116 in a manner Such that the second pair of closed herein. Other features will be apparent from the rotors 118 extend substantially perpendicularly to the first accompanying drawings and from the detailed description pair of rotors 104, such that the first rotor 106 may be that follows. 55 substantially perpendicular the third rotor 120 and the sec ond rotor 108 is substantially perpendicular the fourth rotor BRIEF DESCRIPTION OF THE DRAWINGS 122 when in an extended mode 300. The second pair of rotors 118 may fold underneath the first pair of rotors 104 Example embodiments are illustrated by way of example such that the first pair of rotors 104 and the second pair of and not limitation in the figures of the accompanying 60 rotors 118 are substantially parallel to each other in a folded drawings, in which like references indicate similar elements mode of the undercarriage 116 of the quadcopter 100. and in which: The first pair of rotors 104 may be substantially above the FIG. 1A is a folded mode top view of a quadcopter in a second pair of rotors 118 in the folded mode, such that the folded mode, according to one embodiment. first rotor 106 may be substantially above the third rotor 120 FIG. 1B is a folded mode bottom view of the quadcopter 65 and/or the second rotor 108 is substantially above the fourth of FIG. 1A in the folded mode, according to one embodi rotor 122 when in the folded mode. The second pair of rotors ment. 118 may fold outward with the pivot 204 of the undercar US 9,457,901 B2 5 6 riage 116 in the manner Such that the second pair of rotors pair of rotors 118 comprising of the third rotor 120 and the 118 extend substantially perpendicularly to the first pair of fourth rotor 122 may be mechanically coupled to the under rotors 104, such that the first rotor 106 may be substantially carriage 116. The second pair of rotors 118 may be folded perpendicular the fourth rotor 122 and the second rotor 108 underneath the first pair of rotors 104 such that the first pair may be substantially perpendicular the third rotor 120 when 5 of rotors 104 and the second pair of rotors 118 are substan in the extended mode 300. The second pair of rotors 118 may tially parallel to each other in a folded mode of the under extend substantially perpendicularly to the first pair of rotors carriage 116 of the quadcopter 100. 104 through a quarter turn of a central axis 402 of the The first pair of rotors 104 may be substantially above the quadcopter 100 coupling the airframe 102 to the undercar second pair of rotors 118 in the folded mode, such that the riage 116. The quarter turn may pivot 204 the second set of 10 first rotor 106 is substantially above the third rotor 120 and rotors to the extended mode 300. The quadcopter 100 may the second rotor 108 is substantially above the fourth rotor enter a flyable condition 400 when in the extended mode 122 when in the folded mode. The second pair of rotors 118 3OO. may fold outward with the pivot 204 of the undercarriage The quadcopter 100 may automatically enable an elec 116 in the manner such that the second pair of rotors 118 tronic circuitry 408 of the quadcopter 100 when in the 15 extend substantially perpendicularly to the first pair of rotors flyable condition 400. The airframe 102 of the quadcopter 104, such that the first rotor 106 is substantially perpendicu 100 may include an upper extender mechanism 114 and/or lar the fourth rotor 122 and the second rotor 108 is substan a lower extender mechanism 124 in a central portion of the tially perpendicular the third rotor 120 when in the extended airframe 110. The undercarriage 116 may wrap around the mode 300. The second pair of rotors 118 may be extended lower extender mechanism 124 in a manner Such that the substantially perpendicularly to the first pair of rotors 104 lower extender mechanism 124 is enclosed by the under through a quarter turn of a central axis 402 of the quadcopter carriage 116. The maximum payload capacity may be 100 coupling the airframe 102 to the undercarriage 116. The between one and twenty pounds. The central portion may quarter turn may pivot 204 the second set of rotors to the encompass a cavity 602 in which a securing means 606 may extended mode 300. The quadcopter 100 may enter a flyable provide for convenient insertion and/or ejection of a battery 25 condition 400 when in the extended mode 300. 608 powering the quadcopter 100 when a cover 604 of the An electronic circuitry 408 of the quadcopter 100 may be upper extender mechanism 114 is removed. automatically enabled when in the flyable condition 400. The cavity 602 may include a processor 610 and/or a The undercarriage 116 may wrap around the lower extender memory 612 and/or a communication circuitry 614 com mechanism 124 in a manner Such that the lower extender prising at least one of a radio frequency circuitry, a wifi 30 mechanism 124 is enclosed by the undercarriage 116. The circuitry, and/or a cellular communication circuitry 614. A maximum payload capacity may be between one and twenty pair of fan-out payload extensions 404 may span out from pounds. A cavity 602 may be encompassed in the central opposing faces of the undercarriage 116 to provide tensile portion in which a securing means 606 to provide for strength during a landing of the quadcopter 100. The air convenient insertion and/or ejection of a battery 608 pow frame 102 of the quadcopter 100 may include a built-in 35 ering the quadcopter 100 when a cover 604 of the upper camera 406 in an encasing of at least one of the first rotor extender mechanism 114 is removed. The set of payload 106 and/or the second rotor 108 of the quadcopter 100. The extensions may include a hook assembly 506C, an inter airframe 102 may include a return home button 112 to locking building block platform assembly 506A, a DSLR autonomously direct the quadcopter 100 to a predetermined camera assembly, a HD camera assembly 506D, and/or a location. 40 container assembly 506B. A pair of fan-out payload exten In another embodiment, a method of a quadcopter 100 sions 404 may span out from opposing faces of the under includes enabling users of the quadcopter 100 to design carriage 116 to provide tensile strength during a landing of payload extensions that mechanically couple with an air the quadcopter 100. A built-in camera 406 may be included frame 102 of the quadcopter 100 using a three-dimensional in an encasing of at least one of the first rotor 106 and the (3D) printing device in conformance with a connection 45 second rotor 108 of the quadcopter 100. A return home means 502 as long as the payload extensions have a weight button 112 may autonomously direct the quadcopter 100 to less than a maximum payload capacity of the quadcopter a predetermined location. 100. Any of a set of payload extensions are coupled through In yet another embodiment, a quadcopter 100 includes an a central portion of an airframe 102 using the connection airframe 102 and a central portion of the airframe 110 having means 502. A cavity 602 of the airframe 102 includes a 50 an upper extender mechanism 114 and a lower extender processor 610 and a memory 612 and a communication mechanism 124. The central portion includes a connection circuitry 614 comprising at least one of a radio frequency means 502 that enables users of the quadcopter 100 to design circuitry, a wifi circuitry, and a cellular communication payload extensions that mechanically couple with the quad circuitry 614. The central portion of the airframe 110 has at copter 100 using a three-dimensional (3D) printing device in least one of an upper extender mechanism 114 and a lower 55 conformance with the connection means 502 as long as the extender mechanism 124. payload extensions have a weight of at least one of a weight A second pair of rotors 118 may be folded outward with less than a maximum payload capacity of the quadcopter the pivot 204 of an undercarriage 116 in a manner such that 100 and a weight equal to the maximum payload capacity of the second pair of rotors 118 extend substantially perpen the quadcopter 100. A second pair of rotors 118 folds dicularly to a first pair of rotors 104, such that a first rotor 60 underneath a first pair of rotors 104 such that the first pair of 106 may be substantially perpendicular a third rotor 120 rotors 104 and the second pair of rotors 118 are substantially and/or a second rotor 108 may be substantially perpendicu parallel to each other in a folded mode of the quadcopter lar a fourth rotor 122 when in an extended mode 300. The 1OO. first pair of rotors 104 comprising of the first rotor 106 and FIG. 1A is a folded mode top view 150 of a quadcopter the second rotor 108 may be physically enclosed in the 65 100 in a folded mode 101, according to one embodiment. In airframe 102. The undercarriage 116 may be mechanically particular, FIG. 1A shows the quadcopter 100, an airframe coupled on a lower side 202 of the airframe 102. The second 102, a first pair of rotors 104, a first rotor 106, a second rotor US 9,457,901 B2 7 8 108, a central portion of the airframe 110, a return home embodiment. Particularly, FIG. 1B shows an undercarriage button 112, and an upper extender mechanism 114. In one 116, a second pair of rotors 118, a third rotor 120, a fourth embodiment, the airframe 102 may be made of carbon fiber, rotor 122, a lower extender mechanism 124, and a set of rods plastic, a polymer Substance with Sufficient rigidity to pro 126. The undercarriage 116 may be physically associated vide structural support, and/or rubber. The airframe 102 may with the airframe 102. The set of rods 126 (e.g., carbon fiber be composed of injection molded plastic and/or 3D printed rods and/or plastic rods) may be connected with the lower plastic. The airframe 102 may have a rubber lining (e.g., a extender mechanism 124 and/or at least one of the second bumper) covering the external horizontal edge of the air pair of rotors 118, at least one of a pair of fan-out payload frame 102. This may enable the quadcopter 100 to come into extensions 404 (shown in FIG. 4A), and/or a motor of at contact with objects without causing damage and/or marking 10 least one of the rotors (e.g., the third rotor 120 and/or the (e.g., scuffing) of the quadcopter 100 and/or objects. fourth rotor 122). In one embodiment, the airframe 102 of the quadcopter In one embodiment, the second pair of rotors 118 may be 100 may be in the shape of a peanut, a circle, a square, a substantially underneath and/or parallel to the first pair of triangle, and/or another shape. The airframe 102 may physi rotors 104 when the quadcopter 100 is in the folded mode cally enclose a first pair of rotors 104 comprising a first rotor 15 101 of the undercarriage 116. The third rotor 120 may be 106 and a second rotor 108. The rotors (e.g., the first rotor substantially underneath and/or parallel to the first rotor 106 106, the second rotor 108, a third rotor 120, and/or a fourth and/or the fourth rotor 122 may be substantially underneath rotor 122) may be composed of plastic, carbon fiber, metal, and/or parallel to the second rotor 108 when the undercar and/or a polymer material. The rotors may be the same size riage 116 is in the folded mode 101. or different sizes. In one embodiment, the rotors (e.g., the FIG. 2 is a pivoted undercarriage view 250 of the quad first rotor 106 and the second rotor 108) may be 7-12 inch copter 100 in an extended mode 300, according to one rotors. The rotors may be any size necessary to attain flight embodiment. In particular, FIG. 2 depicts a lower side 202 (e.g., lift and/or Sustained flight). of the quadcopter 100 and a pivot 204. The undercarriage The first pair of rotors 104 may be substantially above 116 may be couple with the lower side 202 of the quadcopter and/or parallel with a second pair of rotors 118 (shown in 25 100 (e.g., the lower side 202 of the airframe 102). In one FIG. 1B) when the quadcopter 100 is in the folded mode 101 embodiment, the second pair of rotors 118 may fold outward of an undercarriage 116 (shown in FIG. 1B), such that the when the undercarriage 116 is pivoted. The pivot 204 may first rotor 106 is substantially above a third rotor 120 and the be a quarter (e.g., 90 degree) turn on a horizontal plane. The second rotor 108 is substantially above a fourth rotor 122. lower extender mechanism 124 and/or a portion of the lower The central portion of the airframe 110 may contain the 30 extender mechanism 124 may act as a turning ring, enabling upper extender mechanism 114 and/or a lower extender the pivot 204 via a spring lock mechanism. The spring lock mechanism 124 (shown in FIG. 1B). The upper extender mechanism (e.g., a spring pin and/or a ball detent) may mechanism 114 and/or lower extender mechanism 124 may include stoppers placed at a 90 degree angle from one be physically coupled with the central portion of the air another in order to prevent 360 degree rotation. The lower frame 110 using a screw mechanism, a clipping mechanism, 35 extender mechanism 124 may only be able to rotate in a and/or another locking mechanism. predetermined manner (e.g., clockwise to pivot 204 the The upper extender mechanism 114 and/or the lower second pair of rotors 118 outward and/or counterclockwise extender mechanism 124 may enable a user to mechanically to pivot 204 the second pair of rotors 118 back inward, attach a printed payload extension (as shown in FIG. 5). The thereby pivoting the undercarriage 116 back into the folded extender mechanisms may be able to accommodate payload 40 mode 101). The spring lock mechanism may require the extensions (e.g., custom printed extensions, three-dimen application of a downward force (e.g., a pull) and/or torque sionally printed extensions, and/or extensions manufactured in order to move the second pair of rotors 118 (e.g., the third through other means (e.g., injection molding)) as long as the rotor 120 and/or the fourth rotor 122) outward. payload extensions have a connecting side (shown in FIG. 5) In another embodiment, the third rotor 120 and/or fourth compatible with the connection means 502 of the extender 45 rotor 122 may be folded outward without a pivot 204. Each mechanism(s). In one embodiment, the cover 604 may have rotor of the second set of rotors may be independently a connecting side with the proper (e.g., compatible) connec moved outward and/or inward. The third rotor 120 and/or tion means (e.g., securing means 606 of FIG. 6) to couple fourth rotor 122 may be connected to extending means (e.g., with the connection means 502 of the upper extender telescoping arms) that may enable the rotors to be moved mechanism 114 and/or lower extender mechanism 124. 50 from a folded position (e.g., under the airframe and/or first The airframe 102 may include a return home button 112 set of rotors). In another embodiment, the third rotor 120 (e.g., a depress-able button and/or a selection on a screen and/or fourth rotor 122 may extend outward from an air interface). The return home button 112 may enable a user of frame of the quadcopter 100 through a sliding mechanism in the quadcopter 100 to send the quadcopter 100 back to a which the angle between the coupled points of two or more predetermined location (e.g., the location from where it was 55 arms coupled with the rotor (e.g., directly or indirectly sent, a home location, a pre-designated location, and/or a coupled) is decreased as the rotors extend outward from the location of the user who sent the quadcopter 100 to its airframe. current location). This may enable a lost quadcopter 100 to FIG. 3 is an extended mode 300 bottom view 350 of the be easily returned to a secure location and/or may enable a quadcopter 100 in an extended mode 300. When the under recipient of a delivery of the quadcopter 100 to return the 60 carriage 116 is in the extended mode 300 (e.g., when the quadcopter 100 quickly and easily. The quadcopter 100 may second pair of rotors 118 have been folded outward with the also include a screen (e.g., a touch screen and/or a display pivot 204 of the undercarriage 116) the first pair of rotors screen) to enable user interaction and/or show details about 104 may be substantially perpendicular to the second pair of the quadcopter 100, its owner, its task (e.g., delivery), and/or rotors 118. The first rotor 106 may be substantially perpen functional status. 65 dicular to (e.g., at a 90 degree angle in relation to) the third FIG. 1B is a folded mode bottom view 151 of the rotor 120 and/or the fourth rotor 122 when the quadcopter quadcopter 100 in the folded mode 101, according to one 100 is in the extended mode 300 of the undercarriage 116. US 9,457,901 B2 9 10 The second rotor 108 may be substantially perpendicular to fan-out payload extensions 404 may extend down in order to the third rotor 120 and/or the fourth rotor 122 when the enable the quadcopter 100 to land without causing a payload quadcopter 100 is in the extended mode 300 of the under extension that is attached with the lower extender mecha carriage 116. nism 124 to come into contact with a landing Surface (e.g., FIG. 4A is a front view 450 of the quadcopter 100 in a the ground). flyable condition 400. FIG. 4A shows the flyable condition In one embodiment, the extension means 412 may extend 400, a central axis 402, a pair of fan-out payload extensions the at least one of the pair of fan-out extension assemblies 404, a built-in camera 406, an electronic circuitry 408, an 404 by way of a telescoping mechanism, a sliding mecha encasing of the first rotor 410 106. The quadcopter 100 may nism, and/or a folding mechanism in which the pair of enter a flyable condition 400 when the second pair of rotors 10 fan-out extension assemblies 404 may fold from a position 118 extend outward with the pivot 204 of the central axis parallel to the landing Surface to a perpendicular position in 402 of the quadcopter 100 (e.g., when the quadcopter 100 is relation to the landing surface. The quadcopter 100 may in the extended mode 300). In one embodiment, an elec have multiple detachable fan-out extension assemblies. In tronic circuitry 408 may be automatically enabled when the one embodiment, the user may be able to attach an extension quadcopter 100 enters the flyable condition 400. The quad 15 piece to the quadcopter (e.g., between the at least one of the copter 100 may automatically “turn on' when in the flyable motor, propeller guard, rotor, and/or airframe and the at least condition 400. one of the pair of fan-out extension assemblies 404), fixing The pair of fan-out payload extensions 404 may be the at least one of the pair of fan-out extension assemblies coupled with the undercarriage 116 in a manner in which the 404 a distance away from the undercarriage 116 that enables pair of fan-out payload extensions 404 span out from ends the at least one of the pair of fan-out extension assemblies of the undercarriage 116 and/or under each rotor of the 404 to physically contact the landing surface without the second pair of rotors 118. The fan-out payload extensions payload extension attached to the lower extender mechanism may provide support for the quadcopter 100 when landing 124 coming into contact with the landing Surface. and/or resting on a surface. The fan-out payload extensions The pair of fan-out payload extensions 404 may enter a may be substantially under and/or parallel to prop guards of 25 contracted mode while the quadcopter is in flight and/or may the second pair of rotors 118, such that the fan-out payload enter a protracted mode 414 while in the process of landing extensions do not protrude outward from a structural profile (e.g., following the selection of a landing feature on a user of the quadcopter 100 when in the extended mode 300 device, upon receipt of landing instructions by the quadcop and/or the folded mode 101. In one embodiment, a surface ter, and/or when below a threshold altitude). In one embodi of the fan-out payload extensions 404 that comes in contact 30 ment, the extension means 412 may extend at least one of the with the landing and/or resting Surface may consist of a pair of fan-out payload extensions 404 to a predetermined gripping material and/or pattern (e.g., tredded rubber). (e.g., by the user and/or the manufacturer) distance from the The airframe 102 may include the built-in camera 406. In motor, prop guard, rotor, and/or airframe the at least one of the embodiment of FIG. 4A, the built-in camera 406 is the pair of fan-out payload extensions 404 is located under. shown as being included in the encasing of the first rotor 35 In another embodiment, the quadcopter may use sensors to 410. The built-in camera 406 may be in another location in determine an appropriate distance to lower the at least one and/or on the airframe and/or the airframe may include of the pair of fan-out payload extensions 404 in order to multiple built-in cameras 406. In one embodiment, the accommodate the payload extension (e.g., the camera built-in camera 406 may have a single lens or multiple assembly 416 shown in FIG. 4B) attached to the lower lenses. The built-in camera 406 may be capable of taking 40 extender mechanism 124. Video and/or pictures, being rotated, panned, and/or may be FIG. 5 is a connection means view 550 of a set of able to Zoom in and/or out. The airframe and/or built-in printable payload extensions 504 capable of being physi camera 406 may have and/or be couple with a stabilization cally associated with the quadcopter 100, according to one mechanism (e.g., a shock absorber, an integrated camera tilt embodiment. Particularly, FIG. 5 shows a connection means motor) which may automatically compensate for the quad 45 502 and the set of printable payload extensions 504 (e.g., copter's 100 motion and/or ensure smooth and/or optimal payload extensions) including an interlocking building camera operation. block platform assembly 506A, a container assembly 506B, In one embodiment, the built-in camera 406 may use its a hook assembly 506C, and an HD camera assembly 506D. own battery and/or memory and/or use the battery 608 The upper extender mechanism and/or the lower extender and/or memory 612 of the quadcopter 100. A USB port 50 mechanism 124 may include a connection means (e.g., the and/or other data transfer means may be located on the connection means 502) that enables users of the quadcopter quadcopter 100 to enable video and/or pictures captured by 100 to attach (e.g., lock, affix, mechanically couple, and/or the built-in camera 406 to be accessed directly from the connect) payload extensions to the quadcopter 100. quadcopter 100. Video and/or pictures captured by the In one embodiment, the payload extensions may be cre built-in camera 406 may to capable of being communicated 55 ated using three-dimensional (3D) printing. This may enable (e.g., using wifi. 3G and/or 4G) in real time and/or upon users to design and/or create custom printable payload request to a user device (e.g., a computer, a Smartphone, a extensions and/or attach the set of printable payload exten tablet, and/or a data processing system). sions 504 to the quadcopter 100 using the connection means FIG. 4B is a front view 451 of the quadcopter of FIG. 4A 502, as long as a connecting side 508 of the printable with the pair of fan-out payload extensions in a protracted 60 assembly is compatible with the connection means 502 (e.g., mode, according to one embodiment. Particularly, FIG. 4B has a specified size and/or complementary connection shows an extension means 412, a protracted mode 414, and mechanism that acts as a mechanical coupling partner (e.g., a camera assembly 416. The pair of fan-out payload exten male and/or female end) with the connection means 502). sions 404 may have (e.g., include, be coupled with, be Users may be able to create any printable assembly (e.g., associated with, and/or work in concert with) extension 65 printable payload extension) they wish as long as certain means 412 which may lower and/or raise at least one of the criteria are met. For example, the printable assembly and/or fan-out payload extensions. In one embodiment, the pair of contents may be required to be under a threshold weight US 9,457,901 B2 11 12 and/or size, may not be allowed to extend a certain distance location using the sensory fusion circuitry, sensory fusion past the airframe and/or cover one or more rotors, may need algorithm, and/or at least one sensor when the return home to meet certain safety standards, and/or may need to have a button 112 is selected. connecting side 508 that meets preset standards (e.g., radius, An example embodiment will now be described. In one width, length, composed of certain material, and/or com- 5 embodiment, Ben may have several children with different prising a connection mechanism (e.g., securing means 606) interests. Ben may wish to use a quadcopter in order to film compatible with the connection means 502). his youngest daughter's Soccer matches. Ben's oldest daugh The hook assembly may enable users to attach items to the ter may wish to use the quadcopter for recreational flying quadcopter 100 (e.g., hook a Sweatshirt to be transported) and may not want accessories to complicate her flight 10 maneuvers. Ben's youngest child, his son, may wish to and/or may enable the quadcopter 100 to hook (e.g., pickup) create building block creations and include the quadcopter in items without users having to physically attach the items to his play time. Ben's wife may have use of the quadcopter for the hook mechanism of the hook assembly. In one embodi sending and/or receiving deliveries to and/or from her ment, a battery assembly may be included in the set of neighbors. printable payload extensions 504. The battery assembly may 15 Quadcopters may not be able to fulfill these diverse needs be connected using the connection means 502 and/or may and/or accessories may be complicated (e.g., requiring the include circuitry to enable a battery of the battery assembly attachment and a securing means and/or alterations to the to power the quadcopter 100. The battery assembly may quadcopter) and/or unavailable. Ben may not be able to work in concert with a battery 608 of the quadcopter 100 afford to purchase separate quadcopters for each family (shown in FIG. 6) and/or the battery 608 and the battery of member. Ben may see a neighbor using a SkyteboardTM the battery assembly may be used individually (e.g., the quadcopter and may purchase one of his own. The Skyte battery of the battery assembly may be used after the battery boardTM quadcopter may enable him to create and/or safely 608 of the quadcopter 100 has reached a threshold level of use any attachment he or a member of his family wishes. charge). The set of printable payload extensions 504 may Ben may be able to create a camera assembly (e.g., an include any printable assembly capable of being conceived 25 assembly with its own camera and/or an assembly to enable and/or created, provided a number of the abovementioned Ben to attach a camera to the quadcopter) and film is criteria are met. daughter's Soccer matches. This may enable neighbors, FIG. 6 is a cavity view 650 of the quadcopter 100. FIG. parents of team members, and/or Ben's relatives to view the 6 shows a cavity 602, a cover 604, a securing means 606, a Video (e.g., live and/or at a later time). Ben's oldest daughter battery 608, a processor 610, a memory 612, and a commu 30 may be able to fly the Skyteboard TM quadcopter without any accessories and/or may be able to create and/or use an extra nication circuitry 614. In one embodiment, the central battery attachment to enable her to fly the Skyteboard TM portion may contain the cavity 602 which may include the quadcopter for longer continuous periods of time. Ben's battery 608, the processor 610, the memory 612, and/or the wife may be able to create various container assemblies to communication circuitry 614. The securing means 606 may 35 safely and securely transport items (e.g., tools, presents, secure the cover 604 (e.g., a cover of the upper extender and/or food items) to and/or from neighbors. Ben's son may mechanism 114 and/or the lower extender mechanism 124) be able to create Lego TM assemblies and/or seats so his over the cavity 602. In one embodiment, the cover 604 may favorite stuffed animal may ride (“pilot') the SkyteboardTM be separate from the upper extender mechanism 114 and/or quadcopter. The SkyteboardTM quadcopter may enable the lower extender mechanism 124. The cover 604 may 40 Ben's family to get the most out of their purchase and may facilitate fast, easy, and/or convenient insertion and/or ejec fuel creativity while bringing new excitement to family tion of the battery 608 powering the quadcopter 100. time. The cavity 602 may include the processor 610 and/or the Although the present embodiments have been described memory 612. In one embodiment, the cavity 602 may with reference to specific example embodiments, it will be include the communication circuitry 614 which may enable 45 evident that various modifications and changes may be made the quadcopter 100 to communicate with a server, data to these embodiments without departing from the broader processing device, Smartphone, and/or computer. The com spirit and scope of the various embodiments. It will be munication circuitry 614 may include a radio frequency appreciated that the various mechanical assemblies circuitry, a wifi circuitry, and/or a cellular communication described herein may be created using a variety of materials, circuitry. In one embodiment, the communication circuitry 50 chemistries, sizes, forms, and compositions. In addition, it 614 may enable audio and/or visual data (e.g., photographs will be appreciated that some of the various operations, and/or video) from the built-in camera 406, a microphone processes, and methods disclosed herein may be embodied assembly, and/or a camera assembly (e.g., the HD camera in a machine-readable medium and/or a machine accessible assembly 506D) to be communicated to the user, the server, medium compatible with a data processing system (e.g., a and/or the data processing system upon request and/or in 55 computer system), and may be performed in any order. real time. Accordingly, the specification and drawings are to be The cavity 602 may also include a sensory fusion circuitry regarded in an illustrative rather than a restrictive sense. and/or a sensory fusion algorithm of a motherboard of the What is claimed is: quadcopter 100. In one embodiment, the sensory fusion 1. A quadcopter, comprising: algorithm and/or sensory fusion circuitry may use input 60 an airframe; from one or more sensors of the quadcopter 100 (e.g., an a central portion of the airframe having at least one of an ultrasound sensor, a radio frequency sensor, a laser sensor, upper extender mechanism and a lower extender a radar sensor, an optical sensor, a stereo optical sensor, a mechanism, global positioning device and/or sensor, and/or a LIDAR wherein the central portion enables users of the quadcop sensor) to enable the quadcopter 100 to operate autono- 65 ter to design payload extensions that mechanically mously. In an example embodiment, the quadcopter 100 couple with the quadcopter using a three-dimensional may be able to autonomously return to a predetermined (3D) printing device as long as the payload extensions US 9,457,901 B2 13 14 have a weight of at least one of a weight less than a wherein the second pair of rotors extend substantially maximum payload capacity of the quadcopter and a perpendicularly to the first pair of rotors through a weight equal to the maximum payload capacity of the quarter turn of a central axis of the quadcopter coupling quadcopter, the airframe to the undercarriage, wherein the quarter wherein a second pair of rotors folds underneath a first pair of rotors such that the first pair of rotors and the turn to pivot the second set of rotors to the extended Second pair of rotors are substantially parallel to each mode, other in a folded mode of the quadcopter, wherein the quadcopter enters a flyable condition when in wherein the first pair of rotors further comprises of a first the extended mode, rotor and a second rotor physically enclosed in the wherein the quadcopter automatically enables an elec airframe, 10 tronic circuitry of the quadcopter when in the flyable wherein an undercarriage is mechanically coupled on a condition, and lower side of the airframe. wherein the undercarriage wraps around the lower wherein the second pair of rotors further comprises of a extender mechanism in a manner such that the lower third rotor and a fourth rotor mechanically coupled to the undercarriage, 15 extender mechanism is enclosed by the undercarriage. wherein the first pair of rotors are substantially above the 2. The quadcopter of claim 1: second pair of rotors in the folded mode, such that the wherein the maximum payload capacity is between one first rotor is substantially above the third rotor and the and twenty pounds. second rotor is substantially above the fourth rotor 3. The quadcopter of claim 2: when in the folded mode, wherein the central portion to encompass a cavity in wherein the second pair of rotors fold outward with the which a securing means to provide for convenient pivot of the undercarriage in the manner such that the insertion and ejection of a battery powering the quad Second pair of rotors extend substantially perpendicu copter when a cover of the upper extender mechanism larly to the first pair of rotors, such that the first rotor is removed. is substantially perpendicular to the fourth rotor and the 25 4. The quadcopter of claim 3: second rotor is substantially perpendicular to the third herein the cavity to include a processor and a memory rotor when in an extended mode, and a communication circuitry comprising at least one wherein the second pair of rotors fold outward with the of a radio frequency circuitry, a wifi circuitry, and a pivot of the undercarriage in the manner such that the cellular communication circuitry. Second pair of rotors extend substantially perpendicu 30 5. The quadcopter of claim 4: larly to the first pair of rotors, such that the first rotor wherein a pair of fan-out payload extensions span out is substantially perpendicular to the third rotor and the from opposing faces of the undercarriage to provide second rotor is substantially perpendicular to the fourth tensile strength during a landing of the quadcopter, rotor when in the extended mode, wherein the airframe of the quadcopter to include a wherein the quadcopter couples at least one of a set of 35 built-in camera in an encasing of at least one of the first payload extensions including a hook assembly, an rotor and the second rotor of the quadcopter, and interlocking building block platform assembly, a DSLR wherein the airframe to include a return home button to camera assembly, a HD camera assembly, and a con autonomously direct the quadcopter to a predetermined tainer assembly through the central portion of the location. airframe,